Selectively Reconfigurable Drive-Assembly

Abstract

There is provided a drive assembly comprising: a reconfigurable differential drive comprising a first wheel and a second wheel, wherein the first and second wheels are moveable with different angular velocities around respective first and second rotation axes; a steering actuator configured to rotate the first wheel around a first pivot axis and / or the second wheel around a second pivot axis; wherein the first and second wheels are coupled such that a rotation of the first wheel around the first pivot axis by a first adjustment angle results in a rotation of the second wheel around the second pivot axis by a second adjustment angle, the second adjustment angle being dependent on the first adjustment angle.

Description

BACKGROUND OF THE INVENTION[0001]Mobile robots are used for a wide range of applications, such as for logistic purposes. The drives of such robots require high flexibility with respect to possible movements of the robot whilst being very robust in terms of their operation. A so-called differential-drive, wherein two parallel wheels share a common axis represents a configuration that allows a robot to perform translational or circular movements depending on rotational velocities applied to its wheels whilst being very simple in terms of its mechanical structure. Conventional differential-drives, however, do not enable the autonomous robot to drive sideways. In order to imitate a sideways movement, the robot needs to perform a hybrid maneuver that combines a sequence of rotational movements and translational forward movements. This type of maneuver can be difficult to execute, in particular when the robot has to operate in confined spaces, which becomes highly relevant whenever the ro...

AI Technical Summary

Benefits of technology

The invention is a selectively reconfigurable drive assembly for a vehicle that allows for agile movements and fault-tolerant operation. It uses a differential-drive system with a single steering actuator to control the movements of the wheels. The assembly allows for circular or sideward movements without changing the angular velocities of the wheels and can perform precise adjustments of the direction of a translational movement. The drive assembly is also fault-tolerant and can reset the wheels in case of failure. Overall, the invention provides a flexible and robust driving system for vehicles.

Problems solved by technology

Conventional differential-drives, however, do not enable the autonomous robot to drive sideways.

This type of maneuver can be difficult to execute, in particular when the robot has to operate in confined spaces, which becomes highly relevant whenever the robot has to deliver an object close to a handling position, for example.

These approaches, however, require a plurality of actuators, motors or stability mechanisms which results in a complex drive arrangement that is cost intensive and difficult to control whilst being less robust during operation.

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